
XML_PATH = "MJCF/scene.xml"

WHEEL = {
    "names":[
        "FL_wheel", "FR_wheel", "RL_wheel", "RR_wheel"
    ],
    "R": 0.05, # 半径(m)
    "C": 0.34, # 轴距(m)
    "wheel_vel_controller": {
        "kp": 1e-3,
        "kd": 1e-7,
        "max_torque_change": 1.0,
        "torque_range": [-100.0, 100.0]
    },
    "wheel_FL_error_controller":{
        "kp": 5e-5,
        "kd": 5e-6,
        "max_torque_change": 1.0,
        "torque_range": [-1.0, 1.0]
    },
    "sensors":[
        "FL_wheel_vel", "FR_wheel_vel", "RL_wheel_vel", "RR_wheel_vel"
    ]
}
IMU = {
    "sensors": [
        "imu_quat", "imu_gyro", "imu_acc"
    ]
}

LASER = {
    "name": "laser",
    "count": 360
}

BASE = {
    "max_linear_vel": 2.0,
    "max_angular_vel": 3.14159,
    "sensors": [
        "frame_pos", "frame_vel"
    ]
}
